Robotic Implementations of Topics in each Lecture

Learning of Dynamical Systems (Lecture 1)

• Learning Robot Manipulation Tasks [1]

• Learning Wheelchair Navigation Tasks [1]

Modulation of Dynamical Systems (Lecture 2)

• Modulation for Obstacle Avoidance [2]

• Modulation for Contact/Non-Contact Transitions [3]

Dynamical System based Impedance Control (Lecture 3)

• Force Generation with Dynamical Systems [4]

• Passive Interaction Control with Dynamical Systems [5]

References

[1] Figueroa, N. and Billard, A. (2018) “A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning”. In Proceedings of the 2nd Conference on Robot Learning (CoRL).
[2] Huber, L., Billard, A. and Slotine, J.-J. (2019) Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction. IEEE Robotics and Automation Letters (RA-L).
[3] Mirrazavi Salehian, S. S. and Billard, A. (2018) A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions. IEEE Robotics and Automation Letters (RA-L). [4] Amanhoud, W., Khoramshahi, M. and Billard, A. (2019) “A Dynamical System Approach to Motion and Force Generation in Contact Tasks.” In Proceedings of Robotics, Science and Systems (RSS). [5] Kronander, K. and Billard, A. (2016) Passive Interaction Control with Dynamical Systems. IEEE Robotics and Automation Letters, vol. 1, iss. 1, Jan. 2016, pp. 106-113. selected for presentation at ICRA 2016.